49 lines
5.7 KiB
Plaintext
49 lines
5.7 KiB
Plaintext
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Madagascar 0.99999 25/02/2015 09:46:27 amd64 1-core (no VSIDS)
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Options: file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/domain.pddl file:/home/pluehne/Documents/ASP/pddl-instances/ipc-2006/domains/rovers-propositional/instances/instance-20.pddlignoring --stats
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ignoring --verbose
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-m 8192
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Domain: rover
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Problem: roverprob7182
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Parser: 7364 ground actions and 1717 state variables
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Invariants: 0 1 2 3 4 5 6 7 0.01 secs
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Goal: conjunctive
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Simplified: 3976 ground actions and 469 state variables
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Actions: STRIPS
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Disabling graph %: 10 20 30 40 50 60 70 80 90 100 0.00 secs (max SCC size 24)
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Plan type: E-step
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Allocated 32 MB permanent (total 141 MB)
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Horizon 0: 469 variables
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0 UNSAT (0 decisions 0 conflicts)
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Horizon 5: 30994 variables
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Allocated 32 MB (total 330 MB)
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5 UNSAT (62 decisions 40 conflicts)
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Horizon 10: 61519 variables
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SAT (258 decisions 0 conflicts)
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PLAN FOUND: 10 steps
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STEP 0.0: calibrate(rover1,camera4,objective4,waypoint4) calibrate(rover5,camera5,objective4,waypoint10) calibrate(rover6,camera6,objective5,waypoint4) navigate(rover0,waypoint22,waypoint11) navigate(rover2,waypoint3,waypoint18) navigate(rover3,waypoint3,waypoint1) navigate(rover4,waypoint16,waypoint22) sample_rock(rover7,rover7store,waypoint16)
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STEP 0.1: navigate(rover1,waypoint4,waypoint1) navigate(rover5,waypoint10,waypoint16) navigate(rover6,waypoint4,waypoint8) navigate(rover7,waypoint16,waypoint2)
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STEP 1.0: calibrate(rover1,camera1,objective1,waypoint1) communicate_rock_data(rover7,general,waypoint16,waypoint2,waypoint1) drop(rover7,rover7store) navigate(rover0,waypoint11,waypoint8) navigate(rover3,waypoint1,waypoint23) sample_rock(rover2,rover2store,waypoint18) sample_rock(rover4,rover4store,waypoint22) sample_soil(rover6,rover6store,waypoint8) take_image(rover1,waypoint1,objective3,camera4,colour) take_image(rover5,waypoint16,objective0,camera5,high_res) take_image(rover6,waypoint8,objective2,camera6,high_res)
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STEP 1.1: navigate(rover1,waypoint1,waypoint4) navigate(rover2,waypoint18,waypoint3) navigate(rover4,waypoint22,waypoint16) navigate(rover5,waypoint16,waypoint2) navigate(rover6,waypoint8,waypoint4) navigate(rover7,waypoint2,waypoint14)
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STEP 2.0: calibrate(rover1,camera4,objective4,waypoint4) communicate_image_data(rover1,general,objective3,colour,waypoint4,waypoint1) communicate_image_data(rover5,general,objective0,high_res,waypoint2,waypoint1) communicate_image_data(rover6,general,objective2,high_res,waypoint4,waypoint1) communicate_rock_data(rover2,general,waypoint18,waypoint3,waypoint1) communicate_soil_data(rover6,general,waypoint8,waypoint4,waypoint1) drop(rover2,rover2store) drop(rover4,rover4store) drop(rover6,rover6store) navigate(rover0,waypoint8,waypoint7) navigate(rover4,waypoint16,waypoint10) sample_rock(rover7,rover7store,waypoint14) sample_soil(rover3,rover3store,waypoint23) take_image(rover1,waypoint4,objective5,camera1,high_res)
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STEP 2.1: navigate(rover1,waypoint4,waypoint5) navigate(rover2,waypoint3,waypoint13) navigate(rover6,waypoint4,waypoint13) navigate(rover7,waypoint14,waypoint2)
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STEP 3.0: communicate_image_data(rover1,general,objective5,high_res,waypoint5,waypoint1) communicate_rock_data(rover7,general,waypoint14,waypoint2,waypoint1) communicate_soil_data(rover3,general,waypoint23,waypoint23,waypoint1) drop(rover3,rover3store) drop(rover7,rover7store) navigate(rover2,waypoint13,waypoint21) sample_rock(rover4,rover4store,waypoint10) sample_soil(rover0,rover0store,waypoint7) sample_soil(rover6,rover6store,waypoint13) take_image(rover1,waypoint5,objective7,camera4,colour)
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STEP 3.1: navigate(rover0,waypoint7,waypoint8) navigate(rover3,waypoint23,waypoint1) navigate(rover4,waypoint10,waypoint16) navigate(rover6,waypoint13,waypoint4) navigate(rover7,waypoint2,waypoint9)
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STEP 4.0: communicate_image_data(rover1,general,objective7,colour,waypoint5,waypoint1) communicate_soil_data(rover6,general,waypoint13,waypoint4,waypoint1) drop(rover4,rover4store) drop(rover6,rover6store) navigate(rover0,waypoint8,waypoint11) navigate(rover3,waypoint1,waypoint3) navigate(rover4,waypoint16,waypoint15) sample_rock(rover2,rover2store,waypoint21) sample_rock(rover7,rover7store,waypoint9)
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STEP 4.1: navigate(rover2,waypoint21,waypoint13) navigate(rover6,waypoint4,waypoint6) navigate(rover7,waypoint9,waypoint2)
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STEP 5.0: communicate_rock_data(rover4,general,waypoint10,waypoint15,waypoint1) communicate_rock_data(rover4,general,waypoint22,waypoint15,waypoint1) communicate_rock_data(rover7,general,waypoint9,waypoint2,waypoint1) drop(rover2,rover2store) navigate(rover0,waypoint11,waypoint6) navigate(rover2,waypoint13,waypoint4) navigate(rover3,waypoint3,waypoint20) navigate(rover6,waypoint6,waypoint11)
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STEP 5.1: navigate(rover4,waypoint15,waypoint12)
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STEP 6.0: communicate_rock_data(rover2,general,waypoint21,waypoint4,waypoint1) navigate(rover0,waypoint6,waypoint2) sample_rock(rover4,rover4store,waypoint12) sample_soil(rover3,rover3store,waypoint20) sample_soil(rover6,rover6store,waypoint11)
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STEP 6.1: navigate(rover2,waypoint4,waypoint7) navigate(rover3,waypoint20,waypoint3) navigate(rover4,waypoint12,waypoint15) navigate(rover6,waypoint11,waypoint6)
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STEP 7.0: communicate_rock_data(rover4,general,waypoint12,waypoint15,waypoint1) communicate_soil_data(rover0,general,waypoint7,waypoint2,waypoint1) communicate_soil_data(rover3,general,waypoint20,waypoint3,waypoint1) navigate(rover6,waypoint6,waypoint2) sample_rock(rover2,rover2store,waypoint7)
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STEP 7.1: navigate(rover2,waypoint7,waypoint4)
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STEP 8: communicate_rock_data(rover2,general,waypoint7,waypoint4,waypoint1) communicate_soil_data(rover6,general,waypoint11,waypoint2,waypoint1)
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100 actions in the plan.
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total time 0.57 preprocess 0.49
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total size 498.000 MB
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max. learned clause length 75
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t val conflicts decisions
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0 0 0 0
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5 0 40 62
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10 1 0 258
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